CN115122063A - Wheel disc type automatic pipeline installation robot - Google Patents

Abstract

The invention discloses a wheel disc type automatic pipeline installation robot, which comprises: a track chassis portion; the mounting platform part is arranged at the upper end of the crawler chassis part and is used for providing a mounting platform for the pipeline taking, placing and transporting part, the pipeline mounting part and the U-shaped bracket transporting and mounting part; the pipeline taking and placing and transporting part comprises a pipeline taking and placing part and a pipeline transporting part which are sequentially arranged on the mounting platform part and used for transporting a pipeline to be mounted to the pipeline mounting part; the pipeline installation part is arranged at the output end of the pipeline transportation part and is used for realizing roller type installation of the pipeline; the U-shaped support transportation and installation part comprises a U-shaped support steering device and a U-shaped support installation part which are arranged side by side with the pipeline transportation part and used for realizing the installation of the U-shaped connecting piece. Compared with the traditional mode of manually installing and fixing, the lifting type ferris wheel greatly improves the installation speed, reduces the working time and improves the efficiency.

Description

Wheel disc type automatic pipeline installation robot

Technical Field

The invention relates to the field of constructional engineering, in particular to a wheel disc type automatic pipeline installation robot.

Background

The pipeline is widely applied to house construction projects, such as large factory building spaces, basements with ultra-large areas, building equipment layers, such as water supply and drainage pipelines, rainwater pipelines, fire hydrant pipelines, spraying pipelines, air-conditioning and ventilation professional pipelines, fire fighting, smoke discharging and toxin expelling pipelines and the like. Because pipeline size, shape, weight, connection position are changeable, when the pipeline laying area is great, the efficiency of construction is comparatively low, and it is long, with high costs to work.

Disclosure of Invention

In order to solve the problems in the prior art, the invention aims to provide a wheel disc type automatic pipeline installation robot which can automatically complete the installation and fixation of common straight pipelines and corner pipelines, greatly improve the working efficiency, save the time, save the cost, and has a simple structure and strong practicability.

In order to further achieve the purpose, the invention adopts the following technical scheme: a roulette-type pipe automatic installation robot, comprising:

the crawler chassis part is used for driving the whole robot to move and rotate;

the mounting platform part is arranged at the upper end of the crawler chassis part and is used for providing a mounting platform for the pipeline taking, placing and transporting part, the pipeline mounting part and the U-shaped bracket transporting and mounting part;

the pipeline taking and placing and transporting part comprises a pipeline taking and placing part and a pipeline transporting part which are sequentially arranged on the mounting platform part and is used for transporting a pipeline to be mounted to the pipeline mounting part;

the pipeline installation part is arranged at the output end of the pipeline transportation part and is used for realizing roller type installation of the pipeline;

the U-shaped support transportation and installation part comprises a U-shaped support steering device arranged side by side with the pipeline transportation part and a U-shaped support installation part arranged on one side of the U-shaped support steering device and used for realizing the installation of the U-shaped connecting piece.

Optionally, the mounting platform part comprises a mounting platform connected with the crawler chassis part through a rotating bracket, and a first guide rail bar and a second guide rail bar are arranged at the upper end of the mounting platform.

Optionally, the pipeline taking and placing part comprises a storage box, a sliding table part and an elevation box, the storage box, the sliding table part and the elevation box are sequentially arranged on the upper end of the mounting platform, the elevation box is provided with a lifting device, and the elevation box is provided with an elevation buckle device.

Furthermore, the storage box comprises three lattices, wherein the middle part of the storage box is used for placing a straight tube pipeline, and the two sides of the storage box are respectively used for placing a corner pipeline and a U-shaped connecting piece; the sliding table part comprises a first sliding table and a second sliding table which are arranged in parallel, the first sliding table is an inclined sliding table with a certain inclination angle, and the second sliding table is provided with a lifting plate capable of rotating around a shaft;

the lifting device comprises a lifting rack in sliding connection with a second guide rail strip, a long threaded rod in threaded connection with the lower end of the lifting rack and a first motor connected with the long threaded rod, a rotating arm and a second motor used for driving the rotating arm to rotate are arranged at the upper end of the lifting rack, a sliding block electric hoist is arranged on the rotating arm, and a lifting hook of the sliding block electric hoist is connected with a lifting ring of the clamping piece; the clamping piece comprises a sliding block platform and a sliding block in sliding connection with the sliding block platform, and small rollers are arranged on the sliding block and the sliding block platform.

Further, raise buckle device including set up in the small-size motor who raises the case side, with the short threaded rod that the small-size motor is connected and with short threaded rod threaded connection's the buckle of raising, raise the buckle and raise case side sliding connection raise and be provided with micro motor on the buckle.

Optionally, the pipeline transportation part comprises a transportation support frame, an iron chain gear arranged on one side of the transportation support frame, and a third motor connected with the iron chain gear, the iron chain gear comprises a gear and an iron chain mounted on the gear, and a plurality of thimble conveying devices are arranged on the iron chain at intervals; the thimble conveying device comprises a conveying support, a plurality of first thimbles are mounted on the conveying support through springs, and the conveying support is connected with an iron chain through a connecting part.

Optionally, the pipeline mounting part comprises a triangular plate support, a disc mounting part and a fixed support part, the triangular plate support consists of three triangular plates and a rectangular plate with a through groove dug therein, the through groove provides a guide rail for horizontal movement of the disc mounting part, and the triangular plate support is arranged on the mounting platform; the disc mounting part comprises a disc support, a thread stepper arranged on the disc support and a hydraulic telescopic rod support arranged on the thread stepper, and a clamping device is arranged on the hydraulic telescopic rod support;

the hydraulic telescopic rod support comprises a support shell, a hydraulic rod connected with the outer side of the support shell and a connecting platform connected with the hydraulic rod, wherein a ball rod is arranged in the middle of the lower end of the connecting platform and is placed at the upper end of the support shell;

the clamping device comprises an upper group of second ejector pins, a lower group of second ejector pins and a connecting piece used for connecting the upper group of second ejector pins and the lower group of second ejector pins, roller rods are arranged inside and outside each group of second ejector pins, and a micro motor set is arranged at the joint of each roller rod and each second ejector pin and at the end, provided with a roller, of each roller rod, so that the rotation of each roller rod can be controlled conveniently.

Furthermore, the fixed bolster part includes the fixed bolster, the upper end of fixed bolster is provided with the fourth motor, the fourth motor is connected with the middle part of disc installation part, the lower extreme of fixed bolster is opened there are T type breach and screw hole for be connected with first guide rail strip and motor threaded rod.

Optionally, the steering device of the U-shaped bracket comprises a steering device shell and a steering rod part, two fixed round rods are arranged in the steering device shell, and a notch is formed in one side of the steering device shell and provided with a boss for placing the steering rod part;

the steering rod part comprises a steering rod and a groove wheel, and the groove wheel is arranged on one side of the steering rod through a micro motor; one end of the steering rod is connected with a boss of the steering device shell, the micro motor provides power to drive the steering rod to rotate around the boss, and the other end of the steering rod is connected with the groove wheel and is provided with power to drive the groove wheel to rotate.

Optionally, the U-shaped bracket mounting portion includes a first bracket rod and a second bracket rod which are slidably connected, a notch is formed at an upper end of the first bracket rod, a gear rack is arranged on the second bracket rod, and the gear set is arranged at the notch of the first bracket rod and connected with the gear rack on the second bracket rod;

the second bracket rod is provided with an installation part in a sliding manner, the installation part comprises an installation sliding block and a fixed block, and one end of the fixed block is connected with the installation sliding block through a small motor; and a punching thread unit is arranged on the outer side of the mounting sliding block in a sliding manner.

Compared with the prior art, the invention has the following benefits:

the design of "ferris wheel" lifting mode, disc support rotates and drives clamping device centre gripping pipeline, again by eight small drums, the roller rod is constituteed to micro motor group and quarter butt and is adjusted the axial position of pipeline, horizontal position and vertical position, the installation of the pipeline of being convenient for, rotatory disc support realizes the roller type installation at last, and there is "T" type guide rail between fixed bolster part and the mounting platform part, the fixed bolster part just is driven by the motor threaded rod, can move on the horizontal direction and press from both sides the pipeline of getting with the different grade type, compare in traditional installing fixedly by the manual work, the speed of installation has been improved greatly, the time of work has been reduced and efficiency has been improved.

2. The design of hydraulic telescoping rod support, the hydraulic telescoping rod support of constituteing by hydro-cylinder and telescopic link has hydraulic telescoping rod in the middle of, and the hydro-cylinder telescopic link can angle of adjustment in order to guarantee the stability of the pipeline of centre gripping with the cooperation of club in certain extent, can guarantee the height of installation with the cooperation of screw thread stepper again, has guaranteed stability and accuracy nature when installing.

3. The utility model provides a novel mode of raising device, lifting device block the pipeline by small-size buckle device, and when the case was raised in the pipeline arrival of ramp landing, the both ends of blocking the pipeline by small-size buckle device again, the ascending lifting of a section of one section, a pipeline lifting festival. Meanwhile, the lifting box also has a storage function, and the pipeline can be placed in the lifting box; when the pipeline is conveyed next time, the pipeline is conveyed to the thimble conveying device from the lifting box faster than the pipeline is conveyed to the thimble conveying device from the storage box; in addition, the pipeline is directly carried to thimble conveyor by the lifting device from the storage tank, and lifting device operating cycle is long, and has the design of raising the case for lifting device operating cycle shortens greatly. Compare in directly transporting the pipeline with lift machine simple structure, it is more swift, can practice thrift cost and practicality strong.

The design of the special-shaped piece of the U-shaped support steering device allows the U-shaped connecting piece to be in a horizontal position when the U-shaped connecting piece is clamped in the storage box, and the U-shaped connecting piece can be vertically placed through the direction changing component by the U-shaped support steering device in the transportation process. The bottom support is made by two fixed round bars, and a recess wheel drives "U" type support and rolls, and when "U" type groove in "U" type support bottom was located recess wheel and two fixed round bars middles, "U" type support just vertically was placed, does benefit to follow-up installation.

5. Two sections slide guide rail structure's design, "U" type support mounting part adopts two sections slide guide rail structure, and first festival slides along gear guide by small motor drive arrangement, and the second festival slides along "T" type guide by small motor drive arrangement, realizes highly accurate adjustable, and the steady installation for the piping erection of general ceiling department, it is higher to compare in traditional horizontal bar accommodation space ductility.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a first general structural diagram of the present invention;

FIG. 2 is a second overall structural diagram of the present invention;

FIG. 3 is a schematic view of a portion of the track chassis of the present invention;

FIG. 4 is a schematic view of a portion of the mounting platform of the present invention;

FIG. 5 is a schematic structural view of a transportation part of the pipeline picking and placing device of the present invention;

FIG. 6 is a schematic view of a sliding table according to the present invention;

FIG. 7 is a schematic view of the lifting device of the present invention;

FIG. 8 is a schematic view of a clip according to the present invention;

FIG. 9 is a schematic view of the structure of the lifting latch device according to the present invention;

FIG. 10 is a schematic view of a pipeline transportation part of the present invention;

FIG. 11 is a schematic view of the installation of the iron sprocket and the third motor of the present invention;

FIG. 12 is a schematic structural view of a thimble delivery device according to the present invention;

FIG. 13 is a first schematic view of the construction of the pipe installation section of the present invention;

FIG. 14 is a second structural view of the pipe fitting portion of the present invention;

FIG. 15 is a schematic view of a disc support structure according to the present invention;

FIG. 16 is a schematic view of a thread stepper in accordance with the present invention;

FIG. 17 is a partial schematic view of the mounting bracket of the present invention;

FIG. 18 is a schematic view of the structure of the hydraulic telescopic rod bracket of the present invention;

FIG. 19 is a first schematic view of a clamping device according to the present invention;

FIG. 20 is a second schematic view of the structure of the clamping device of the present invention;

FIG. 21 is a schematic view of a micro-motor assembly according to the present invention;

FIG. 22 is a schematic structural view of a transportation and installation part of the U-shaped bracket of the invention;

FIG. 23 is a schematic structural view of a U-shaped bracket steering device of the present invention;

FIG. 24 is a schematic view of the steering rod portion construction of the present invention;

FIG. 25 is a schematic view of the mounting portion of the "U" shaped bracket of the present invention;

FIG. 26 is a schematic view of the structure of the mounting portion of the present invention;

FIG. 27 is a schematic view of the mounting structure of the disc support and the screw stepper of the present invention;

FIG. 28 is a schematic view of the mounting of the clamping device and the hydraulic telescopic rod bracket of the present invention.

Description of the reference numerals：

0000-crawler chassis part:

0001-crawler belt, 0002-driven wheel, 0003-driving wheel, 0004-chassis support and 0005-power equipment;

1000-mounting platform part:

1001-rotating support, 1002-mounting platform, 1003-first guide rail bar, 1004-second guide rail bar;

2000-pipeline picking and placing transportation part:

2100-a storage bin;

2200-slide section: 2201-a first sliding table, 2202-a second sliding table and 2203-a small motor;

2300-raising the snap means: 2301-lifting buckles, 2302-short screw rods and 2303-micro motors;

2400-raise the case;

2500-lifting device: 2501-a first motor; 2502-long threaded rod; 2503-a lift frame; 2504-a second motor; 2505-rotating arm; 2506-sliding block electric hoist;

2507-clamp: 2571-small roller, 2572-slide, 2573-slide platform;

2600-a third electric machine;

2700-thimble conveying device: 2701-first thimble, 2702-transmission bracket, 2703-connecting element;

2800-transport support;

2900-iron chain gear;

3000-pipe installation part:

3100-a set square support;

3200 — disc mounting part:

3210-disc holder; 3220-screw stepper;

3230-hydraulic telescopic rod support:

3231-hydraulic ram, 3232-support housing, 3233-connecting platform, 3234-ball bar;

3240-clamping device:

3241-a second thimble, 3242-a roller rod, 3243-a connecting piece and 3244-a micro motor group;

3300-fixed rack section:

3301-fixed support, 3302-fourth motor, 3303-motor threaded rod;

4000-U-shaped bracket transportation and installation part:

4100- "U" shaped bracket steering device:

4110-a steering device housing;

4120-steering stem portion:

4121-steering lever, 4122-notched wheel;

4200-U-shaped bracket mounting part:

4210-a first strut bar; 4220-gear set; 4230-a second support bar;

4240-mounting part: 4241-mounting sliding block, 4242-fixing block, 4243-punching thread unit and 4244-miniature thread motor.

Detailed Description

For the purpose of facilitating the understanding and practice of the present invention, as will be described in further detail below with reference to the accompanying drawings and examples, it is to be understood that the examples described herein are for purposes of illustration and explanation, and are not intended to limit the invention.

A wheel-type automatic pipeline installation robot, as shown in fig. 1 and fig. 2, comprises a crawler chassis part 0000, an installation platform part 1000, a pipeline taking and placing transportation part 2000, a pipeline installation part 3000 and a 'U' -shaped bracket transportation installation part 4000, wherein the installation platform part 1000 is positioned above the crawler chassis part 0000, the pipeline taking and placing transportation part 2000 and the pipeline installation part 3000 are respectively installed at the upper end of the installation platform part 1000 close to the right position, the 'U' -shaped bracket transportation installation part 4000 is installed at the upper end of the installation platform part 1000 close to the left position, wherein:

as shown in fig. 3, track chassis portion 0000 is comprised of tracks 0001, driven wheels 0002, drive wheels 0003, chassis supports 0004, and power equipment 0005. A plurality of through holes are formed above the chassis bracket 0004 and used for being connected with the rotating bracket 1001 of the mounting platform part 1000, and through holes are also formed in the side surface of the chassis bracket 0004 and are conveniently connected with the power equipment 0005, the driven wheel 0002 and the driving wheel 0003. Specifically, the power device 0005 is firstly installed on the inner side of the chassis support 0004, fixed by bolts and nuts, and then connected with the driving wheel 0003 to drive the driving wheel 0003 to move. And then the driven wheel 0002 is installed to the other direction of the same side, finally the crawler 0001 is sleeved in, and the other side is installed and connected with the same method, and the installation of the crawler chassis part 0000 is completed. Two side tracks are respectively powered by two groups of power equipment 0005, so that the occupied space can be effectively reduced, and the two groups of power equipment 0005 running independently are more beneficial to differential motion of the tracks.

As shown in fig. 4, the mounting platform part 1000 is composed of a rotating bracket 1001, a mounting platform 1002, a first rail bar 1003 and a second rail bar 1004. The mounting platform 1002 is a large rectangular steel plate with a plurality of through holes on the surface for connecting with other devices. A first guide rail 1003 and a second guide rail 1004 are welded to the mounting platform 1002, the guide rails having a T-shaped cross section and mainly providing a directional track for movement of the lifting frame 2530 of the lifting device 2500 and the triangular plate bracket 3100 of the pipe mounting portion 3000. The upper end of the rotary bracket 1001 is connected with the mounting platform 1002 through bolts and nuts, four feet at the lower end of the rotary bracket 1001 are connected with the chassis bracket 0004 of the crawler chassis part 0000, the rotary bracket 1001 can rotate, a hydraulic rotary cylinder is arranged in the rotary bracket, and the rotation of the rotary bracket is controlled by hydraulic pressure, so that the horizontal free rotation of the mounting platform part 1000 is realized.

As shown in fig. 5, the pipe pick-and-place transporting section 2000 is composed of a pipe pick-and-place section and a pipe transporting section. The pipeline taking and placing part consists of a storage box 2100, a sliding table part 2200, a lifting buckling device 2300, a lifting box 2400 and a lifting device 2500. Storage tank 2100 is fixed in mounting platform 1002 upper end one side, divides to have three check, is used for placing straight section of thick bamboo pipeline between two parties, and both sides are used for placing corner pipeline and "U" type connecting piece respectively. As shown in fig. 6, the sliding table portion 2200 is composed of a first sliding table 2201, a second sliding table 2202 and a small motor 2203, wherein limiting plates are arranged on two sides of the first sliding table 2201 and the second sliding table 2202, the first sliding table 2201 and the second sliding table 2202 are mounted at the upper end of the mounting platform 1002 in parallel, are close to the storage box 2100 and correspond to lattices for placing straight-tube pipelines and corner pipelines in the storage box 2100, and the first sliding table 2201 is an inclined sliding table with a certain inclination angle and is used for sliding and rolling the straight-tube pipelines into the lifting box 2400; the second sliding table 2202 is provided with a lifting plate capable of rotating around a shaft, the lifting is controlled by a small motor 2203, and when the corner pipeline is positioned on the second sliding table 2202, the small motor 2203 works to rotate the lifting plate, so that the corner pipeline positioned on the lifting plate can enter the lifting box 2400. The raising box 2400 is provided with two sets of first sliding table 2201 and second sliding table 2202 which are respectively located on the sliding table portion 2200, so that the pipeline can directly enter the raising box 2400 when sliding off the sliding tables. The two sides of the bending port on the upper portion of the lifting box are provided with limiting plates for limiting the rolling direction of the pipeline, and the lifting box 2400 is placed in front of the ejector pin conveying device 2700, so that the pipeline can fall on the ejector pin conveying device 2700.

As shown in fig. 7, the lifting device 2500 is composed of a first motor 2501, a long threaded rod 2502, a lifting frame 2503, a second motor 2504, a rotating arm 2505, a slider electric block 2506 and a clamping piece 2507, and the lifting device 2500 is installed above the lifting box 2400 for lifting the straight tubular pipes, and is in a middle position at this time, so that the material in three lattices of the storage box 2100 can be conveniently taken out and put in, and at the same time, all the pipes can be better lifted. The long threaded rod 2502 is connected with the first motor 2501, the threaded hole that the long threaded rod 2502 and the lifting frame 2503 lower extreme have is connected, the lifting frame 2503 lower extreme has the T type breach and is connected with the second guide rail strip 1004 on the mounting platform 1002, first motor 2501 rotates alright drive long threaded rod 2502 and rotates to drive lifting frame 2503 linear motion. The second motor 2504 and the rotating arm 2505 are connected in a gear transmission manner and then installed at the upper end of the lifting frame 2503, the second motor 2504 rotates to drive the rotating arm 2505 to swing, the electric block hoist 2506 is installed on the rotating arm 2505 and can slide on the rotating arm 2505, and a lifting hook of the electric block hoist 2506 is connected with a lifting ring of the clamping piece 2507.

As shown in fig. 8, the holding member 2507 is composed of a small roller 2571, a sliding block 2572 and a sliding block platform 2573, the sliding block 2572 is slidably connected to the sliding block platform 2573, specifically, the sliding block platform 2573 has a section of guide rail with a "T" shape, the sliding block 2572 has a section of groove with a "T" shape, the sliding block 2572 can move on the "T" shaped guide rail on the sliding block platform 2573 through the "T" shaped groove, and the sliding block 2572 is driven by the small motor 2203 to move along the sliding block platform 2573. Two sliders 2572 are installed respectively in the both sides of slider platform 2573, connect through "T" type guide rail, and threaded aperture is opened in two sliders 2572's the outside simultaneously, and a short threaded rod is connected to small motor 2203, and the short threaded rod is installed in the threaded aperture department in the slider 2572 outside, thereby small motor 2203 drives the short threaded rod and drives slider 2572 motion. The small roller 2571 is mounted on the slide 2572 and the slide platform 2573, so that the clamping piece 2507 can clamp pipes with different shapes and can adjust the clamping tightness.

As shown in fig. 9, the raising latch 2300 is composed of a raising latch 2301, a short threaded rod 2302, a micro motor 2303 and a micro motor 2203. Micro motor 2203 earlier is connected with short threaded rod 2302, short threaded rod 2302 again with raise the screw through-hole that buckle 2301 upper end has and be connected, micro motor 2203 is fixed and is being raised the case 2400 side, raise buckle 2301 and raise case 2400 side sliding connection, be provided with the guide rail that one section cross-section is "T" type specifically for raising on the case 2400, it is provided with the recess that one section cross-section is "T" type on the buckle 2301 to raise, raise buckle 2301 alright in order to raise the guide rail department motion of "T" type on raising case 2400 with the recess through "T" type, micro motor 2203 accessible short threaded rod 2302 drives whole device up-and-down motion, micro motor 2303 links to each other with the buckle of raising buckle 2301 upper end setting, drive the operation buckle by micro motor 2303, it blocks the pipeline to realize high buckle 2301 and lift. The whole lifting device 2500 is driven by a first motor 2501 to move to a proper position, then a slider electric hoist 2506 drives a clamping piece 2507 to a proper position, the clamping piece 2507 clamps different types of pipelines to a sliding table part 2200, and then the pipelines are respectively conveyed to a corresponding lifting box 2400 by a first sliding table 2201 and a second sliding table 2202, the lifting buckle device 2300 clamps the pipelines to be carried upwards one by one, it needs to be noted that the lifting buckle device 2300 does not work when the pipeline at the first section is conveyed, when the pipeline at the second section is conveyed, the lifting buckle device 2300 works to lift the pipeline at the previous section, so that the pipeline at the next section can fall at the right lower end inside the lifting box 2400, the pipeline at the next section is used as a bottom support to prop against the pipeline at the previous section, the pipeline at the next section is used as a support of the pipeline at the previous section, the lifting buckle device 2300 works again to lift the pipeline at the second section, the pipeline at the first section is lifted by the lifting of the pipeline at the second section, the pipe in the raised box 2400 is raised by a further height to slowly carry the pipe so that the pipe falls from the raised box 2400 into the pipe transportation section.

As shown in fig. 10 and 11, the pipe transportation portion is composed of a third motor 2600, a thimble conveyor 2700, a transportation support frame 2800, and an iron chain gear 2900, the thimble conveyor 2700 is mounted on the iron chain gear 2900, and the iron chain gear 2900 is mounted on the transportation support frame 2800. The transport support 2800 is a rectangular steel plate with through holes at both ends for connecting with the iron chain gear 2900 through bearings, and the third motor 2600 is connected with the iron chain gear 2900 at one end through a key slot. As shown in fig. 12, the thimble transporter 2700 includes a first thimble 2701, a transport frame 2702 and a connecting element 2703, the transport frame 2702 is provided with a plurality of first thimbles 2701 by springs, and has a certain relaxation capacity for protecting the pipeline during transportation, the lower end of the transport frame 2702 is fixed to the connecting element 2703 by bolts and nuts, the whole thimble transporter 2700 is connected to a steel chain 2900 by the connecting element 2703, specifically, the steel chain 2900 includes a steel chain and a gear, the thimble transporter 2700 is connected to the steel chain by the connecting element 2703, and the steel chain is mounted on the gear. The pipeline transportation portion is provided with four groups of transportation support frames 2800, wherein each two groups of transportation support frames 2800 are a large group, and a group of iron chain gears 2900 are matched at the outer side of each group of transportation support frames 2800, so that each large group has two groups of iron chain gears 2900 which are respectively arranged at two sides and symmetrically arranged for transporting a pipeline and are powered by a third motor 2600. A long cylinder with a key slot is penetrated through and rotatably installed on the transportation support frame 2800, and then one end of the long cylinder near the outer side is connected with the third motor 2600, and is connected with the iron chain gear 2900 near the outer side of the transportation support frame 2800 through the key slot. The third motor 2600 drives the iron chain gear 2900 to rotate, so as to drive the thimble feeding device 2700 connected to the iron chain gear 2900 to move together, and the pipe falling into the pipe transporting portion is transported to the pipe mounting portion 3000 for mounting.

As shown in fig. 13, 14, 15, 16, 17, 27, 28, the pipe installation portion 3000 is composed of a triangular plate frame 3100, a disc installation portion 3200, and a fixed frame portion 3300. The triangular plate support 3100 is composed of three triangular plates and a rectangular plate with a through groove dug therein, the through groove provides a guide rail for the horizontal movement of the disc mounting portion 3200, and the triangular plate support 3100 is welded and fixed to the mounting platform 1002. Disc installation portion 3200 comprises disc support 3210, screw thread stepper 3220, hydraulic telescoping rod support 3230 and clamping device 3240, and disc support 3210 is inside to be provided with the round boss and to be used for placing screw thread stepper 3220, and is fixed through bolt and nut connection, and screw thread stepper 3220's top is fixed through bolt and nut connection with hydraulic telescoping rod support 3230, and hydraulic telescoping rod support 3230 is fixed through bolt and nut with clamping device 3240 again at last. As shown in fig. 18, the hydraulic telescopic rod support 3230 is composed of a hydraulic rod 3231, a support housing 3232, a connection platform 3233 and a rod 3234; a square thick steel sheet with a through hole is arranged on the outer side of the support shell 3232 and is used for being connected and fixed with the lower end of the hydraulic rod 3231 through bolts and nuts; four corners of the connecting platform 3233 are provided with round thick steel sheets with through holes, and the round thick steel sheets are fixed with the upper end of the hydraulic rod 3231 through bolts and nuts; the lower end of the connecting platform 3233 is welded at its center to a ball bar 3234, and the ball bar 3234 is placed on the upper end of the support housing 3232. The whole device can realize fine adjustment and stabilization under the action of the hydraulic rod 3231, and the arrangement of the ball rod 3234 for stabilization in the middle strengthens the device.

As shown in fig. 19 and 20, the holding device 3240 comprises a second thimble 3241, a roller rod 3242, a connector 3243, and a micro motor unit 3244, wherein the roller rod 3242 is installed on both sides and inside of the second thimble 3241, and the micro motor unit 3244 drives the roller rod 3242 to rotate around the connected portion. The section is composed of two sets of upper and lower second ejector pins 3241 connected by a connecting piece 3243, a roller rod 3242 is installed inside and outside each set of second ejector pins 3241, and when the roller rod 3242 is installed, the end with a roller is installed away from the second ejector pin 3241. The micro motor unit 3244 is installed at a connection portion of the roller rod 3242 and the second thimble 3241 and an end of the roller rod 3242 with a roller, so as to control the rotation of the roller rod 3242. As shown in fig. 21, the micro motor set 3244 is mainly composed of a micro motor, a small rack and a small disk, and mainly realizes that the motor drives the disk to move for the roller rod 3242 to move around the shaft. Specifically, a set of clamping devices 3240 is connected by two sets of identical second pins 3241 through a connecting element 3243, a lower end of the connecting element 3243 is connected to the second pin 3241 of the lower half portion by a small motor 2203, and an upper end of the connecting element 3243 is directly connected to the second pin 3241 of the upper half portion. The small-sized motor 2203 can drive the connecting member 3243 and the second thimble 3241 fixed to the connecting member to move together, so that the opening of the clamping device 3240 can be closed, and the pipe can be clamped stably.

More specifically, when the clamping device 3240 clamps a corner pipe or a straight pipe, as the disc support 3210 rotates to the upper side, the screw stepper 3220 below the clamping device 3240 operates to adjust the clamping device 3240 upward or downward to a proper height for convenient installation, in this process, four hydraulic rods 3231 of the hydraulic telescopic rod support 3230 operate, and the hydraulic rods are raised and lowered to keep the clamping device 3240 stable, for better adjusting the angle of the clamped pipe, the clamping device 3240 includes eight roller rods 3242, for convenience of description, taking fig. 19 as an example, the upper left of the outer side is a first roller rod, the lower left is a second roller rod, the upper right is a third roller rod, the lower right is a fourth roller rod, the upper inner side is a fifth sixth roller rod, and the lower side is a seventh eighth roller rod. When involving the straight section of thick bamboo pipeline of centre gripping, eight roller pole 3242 work, if when straight section of thick bamboo pipeline the left side is on the high side, micro motor group 3244 work on the first second roller pole, make first second roller pole downstream, micro motor group 3244 work on the third fourth roller pole drives third fourth roller pole upward movement simultaneously, alright adjust straight section of thick bamboo pipeline position and make better installation, straight section of thick bamboo pipeline is no influence to the installation regardless of how rotatory, so the inboard fifth sixth seventh eighth roller pole of clamping device mainly plays the fixed action, through the angle of roller pole 3242 alright adjustment centre gripping's pipeline, make its installation that can be better. When the corner pipeline is installed, eight roller rods 3242 work, if the left side of the corner pipeline is higher, the micro motor set 3244 on the first roller rod and the second roller rod works to enable the first roller rod and the second roller rod to move downwards, and meanwhile, the micro motor set 3244 on the third roller rod and the fourth roller rod works to drive the third roller rod and the fourth roller rod to move upwards; if the horizontal cross-section of the angled pipe is not parallel to the ground (i.e., the angled pipe is tilted within the gripping device 3240), the fifth, sixth, roller bar on the inside rotates to one side, and the seventh, eighth, roller bar rotates to the other side, so that the angled pipe is in the proper position.

As shown in fig. 17, the fixing bracket part 3300 is composed of a fixing bracket 3301, a fourth motor 3302 and a motor threaded rod 3303, the upper end of the fixing bracket 3301 is mainly used to place the fourth motor 3302, the fourth motor 3302 is connected to the middle part of the disc mounting part 3200, so that the disc mounting part 3200 can rotate around the shaft; the lower extreme of fixed bolster 3301 is opened there are T type breach and screw hole for be connected with first guide rail strip 1003 and motor threaded rod 3303, make the device can remove along the horizontal direction, it needs to explain that, motor threaded rod 3303 here comprises the motor and the threaded rod of being connected with the motor, drives the threaded rod through the motor and rotates. When a pipe is delivered from the pipe transporting part, the disc mounting part 3200 is rotated, the gripping device 3240 at the bottom grips the pipe and rotates to the top, and the roller rod 3242 of the gripping device 3240 starts to rotate, and the angle of the pipe is adjusted to facilitate installation. The whole structure realizes ferris wheel type pipeline installation, the pipeline can be installed in a roller type mode by driving the clamping device 3240 to clamp the pipeline through the disc installation part 3200, and the pipeline can move in the horizontal direction to clamp different types of pipelines, so that the installation speed is increased, and the efficiency is greatly improved.

As shown in fig. 22, 23 and 24, the "U" type rack transportation installation part 4000 includes a "U" type rack steering unit 4100 and a "U" type rack installation part 4200, the "U" type rack steering unit 4100 is identical to the third motor transmission, transportation support frame and iron chain gear of the rack pick-and-place transportation part 2000, except that a steering unit housing 4110 and a steering lever part 4120 are installed on the iron chain, two fixed round bars are installed inside the steering unit housing 4110, a boss is formed on one side of the steering unit housing 4110 to place the steering lever part 4120, the steering lever part 4120 is composed of a steering lever 4121 and a groove wheel 4122, the groove wheel 4122 is installed on one side of the steering lever 4121 by a micro motor 2303, one end of the steering lever 4121 is connected to the boss of the steering unit housing 4110, and the steering lever 4121 is driven to rotate around the boss by the power of the micro motor 2303; the other end of the steering rod 4121 is connected to the notch wheel 4122 and is powered by the micro-motor 2303 to rotate the notch wheel 4122. The entire "U" -shaped bracket transportation installation portion 4000 is installed at the left side above the installation platform portion 1000, near the disc installation portion 3200. The U-shaped connecting piece is changed from a horizontal state to a vertical state, the micro motor 2303 firstly places the steering rod 4121 vertically, the U-shaped connecting piece is placed into the steering device shell 4110, then the steering rod 4121 is placed transversely to press one side of the U-shaped connecting piece, the micro motor 2303 drives the groove wheel 4122 to rotate, the U-shaped connecting piece is driven to rotate together, and when the U-shaped bottom of the U-shaped connecting piece rotates to be in contact with the groove wheel 4122, the U-shaped connecting piece is placed vertically, so that later taking, placing and mounting are facilitated.

As shown in fig. 25 and 26, the "U" -shaped bracket mounting portion 4200 is composed of a first bracket rod 4210, a gear train 4220, a second bracket rod 4230 and a mounting portion 4240, and the mounting portion 4240 is composed of a mounting slider 4241, a fixing block 4242, a punching screw unit 4243 and a micro screw motor 4244, wherein a T-shaped notch is provided at a rear end of the second bracket rod 4230, T-shaped guide rails are provided at both sides, a protruding T-shaped guide rail is provided at a rear end of the first bracket rod 4210, T-shaped notches are provided at both sides, the T-shaped guide rail at a rear end of the first bracket rod 4210 is matched with the T-shaped notch provided at a rear end of the second bracket rod 4230, and the T-shaped notches at both sides of the first bracket rod 4210 are matched with the T-shaped guide rails at both sides of the second bracket rod 4230. The second support rod 4230 can be sleeved in the first support rod 4210, the upper end of the first support rod 4210 is provided with a notch, a gear rack is arranged on the second support rod 4230, the gear set 4220 is arranged at the notch of the first support rod 4210 and connected with the gear rack on the second support rod 4230, and the gear set 4220 drives the second support rod 4230 to lift. The second bracket rod 4230 is further provided at both sides of the front end thereof with T-shaped guide rails for easy connection with the mounting slider 4241 of the mounting portion 4240. T-shaped notches are formed in both sides of the inner side of the mounting slider 4241, and a circular slider is controlled by a small motor 2203, and the mounting slider 4241 is inserted into T-shaped guide rails formed in both sides of the second support rod 4230 through the T-shaped notches, so that the entire mounting portion 4240 can move along the second support rod 4230. One end of the fixing block 4242 is connected with the mounting sliding block 4241 through a small-sized motor 2203, and the motor drives the fixing block 4242 to be opened and closed, so that the U-shaped connecting piece is taken and placed. A T-shaped guide rail bar is arranged on the outer side of the mounting slider 4241 and used for providing a lifting guide rail for the punching screw unit 4243, a steel bar with a T-shaped notch and a threaded opening is arranged at one end of the punching screw unit 4243, and the micro screw motor 4244 penetrates through the threaded opening to enable the punching screw unit 4243 to move along the T-shaped guide rail bar arranged on the outer side of the mounting slider 4241. The other end of the punching thread unit 4243 is provided with a thread punching machine and a nailing machine which can automatically punch and pierce nails when the U-shaped connecting piece reaches a proper position to fix the U-shaped connecting piece. The clamping process is as follows:

the U-shaped connecting piece is in an upward opening state after the U-shaped support transports the mounting portion 4000, the gear set 4220 works to drive the second support rod 4230 to descend, the motor on the fixing block 4242 works to open the fixing block 4242, the mounting portion 4240 can also descend simultaneously, when the mounting portion descends to a proper height, the two ends of the U-shaped connecting piece are just in the fixing block 4242, the motor on the fixing block 4242 works again to close the fixing block 4242 to clamp the U-shaped connecting piece. Then, the second support rod 4230 and the mounting portion 4240 are lifted to a proper height, the upper end face of the U-shaped connecting piece is attached to a ceiling, then the U-shaped connecting piece is mounted, a portion reserved for mounting and fixing is arranged at the upper end of the U-shaped connecting piece, and holes are drilled in the U-shaped connecting piece. The micro-threading unit 4244 sends the punching threading unit 4243 to a proper position, the punching threading unit 4243 is provided with a punching machine and a screw drilling machine, the two machines are both provided with a motor which is connected with the main body of the micro-threading unit 4244, and the motor mainly controls the upper part and the lower part of the machine. The motor of the punching machine drives the punching machine to ascend, the punching machine is jacked to a ceiling and starts to punch, and the motor of the screw drilling machine drives the screw drilling machine to ascend to drill and tighten screws for fixing, so that the U-shaped connecting piece is installed and fixed.

The whole device working process is as follows:

the whole device is assembled according to the structure, and the U-shaped connecting piece, the straight pipe pipeline and the corner pipeline are respectively placed in the three lattices in the storage box 2100. The lifting device 2500 has a clamp 2507 to clamp the "U" link in the storage box 2100, and then the "U" link is transferred to the "U" bracket steering device 4100 along with the rotating arm 2505, the micro motor 2303 first places the steering rod 4121 vertically, the "U" link is placed in the steering device housing 4110, the steering rod 4121 is laterally placed to press one side of the "U" link, the micro motor 2303 drives the groove wheel 4122 to rotate, thereby driving the "U" link to rotate together, when the "U" bottom of the "U" link is rotated to contact with the groove wheel 4122, the "U" link is just vertically placed, then the "U" link is clamped by the mounting slider 4241 and the fixing block 4242, the "U" link is transferred to a proper height through the first bracket rod 4210 and the second bracket rod 4230, then the "U" link is perforated by the perforating screw unit 4243, and then the "U" link is transferred to a position to be mounted and attached thereto, and then the U-shaped connecting piece is fixed by a screw drill to complete the installation of the U-shaped connecting piece.

If the installation of the straight-tube pipeline is involved, the clamping piece 2507 clamps the straight-tube pipeline, then the straight-tube pipeline is conveyed to the upper part of the first sliding table 2201 along with the rotating arm 2505, limiting plates are arranged on two sides of the sliding table, the straight-tube pipeline can be smoothly rolled into the lifting box 2400, the lifting buckle devices 2300 are arranged on two sides of the lifting box 2400, the micro motor 2303 works, the lifting buckle 2301 is clamped at the position of the straight-tube pipeline opening firstly, the micro motor 2203 works to drive the short screw rod 2302 to rotate, so that the lifting buckle devices 2300 can drive the straight-tube pipeline to move upwards for a certain distance, as the second straight-tube pipeline enters the lifting box 2400, the micro motor 2303 works reversely, the first straight-tube pipeline is clamped in a loosening manner, the small motor 2203 also works reversely, the whole lifting buckle device 2300 moves downwards, the second straight-tube pipeline opening is clamped, and the process is repeated, so that the straight-tube pipeline can be gradually lifted upwards, and finally falls from the upper end of the lifting box 2400 to the thimble conveyor 2700. The thimble feeding device 2700 is moved by the iron sprocket 2900 to feed the straight pipe to the pipe installing portion 3000. When the straight tube is adjusted in place by the gripping device 3240, it is then nested into the "U" connector that has been previously secured. If the installation or fixation of a plurality of sections of straight tubular pipelines is involved, U-shaped connecting pieces and/or the straight tubular pipelines are sequentially installed as required.

If the installation of the corner pipeline is involved, the clamping piece 2507 clamps the corner pipeline, and then the corner pipeline is conveyed to the position above the second sliding table 2202 along with the rotating arm 2505, a lifting plate capable of rotating around a shaft is arranged on the second sliding table 2202, the lifting is controlled by the small motor 2203, when the corner pipeline is positioned on the second sliding table 2202, the small motor 2203 works to rotate the lifting plate, so that the corner pipeline positioned on the lifting plate can enter the lifting box 2400. Raise case 2400's both sides and be provided with and raise buckle device 2300, micro motor 2303 work, will raise buckle 2301 card in corner pipeline mouth department earlier, micro motor 2203 work, it is rotatory to drive short screw 2302, make and raise buckle device 2300 and can drive corner pipeline rebound certain distance, enter into raising case 2400 along with second corner pipeline, micro motor 2303 reverse work, loosen the first corner pipeline of centre gripping, micro motor 2203 also reverse work simultaneously, wholly raise buckle device downstream, press from both sides and get second corner pipeline mouth, so repeatedly, alright make the ascending lifting of corner pipeline step by step, fall into to thimble conveyor 2700 department from the upper end of raising case 2400 at last. The thimble conveyor 2700 drives the corner pipe to transport to the pipe mounting portion 3000. The pipeline mounting part 3000 can move on the mounting platform part 1000 under the action of the fixed support part 3300 to clamp a corner pipeline, the clamping device 3240 clamps the corner pipeline firstly, and as the disc support 3210 rotates to the upper side, the thread stepper 3220 below the clamping device 3240 works to adjust the clamping device 3240 upwards or downwards to a proper height for mounting conveniently, in the process, four hydraulic rods 3231 of the hydraulic telescopic rod support 3230 part work, and the lifting and the lowering of the hydraulic rods keep the clamping device 3240 stable. The corner tubes are adjusted in position by operation of the eight roller rods 3242 of the clamp 3240, after which they are inserted into the previous tube and, if necessary, further secured by the installation of "U" shaped connectors.

It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A wheel disc type pipeline automatic installation robot is characterized by comprising:

a caterpillar chassis part (0000) for moving and rotating the entire robot;

a mounting platform part (1000) arranged at the upper end of the crawler chassis part (0000) and used for providing a mounting platform for the pipeline taking and placing transportation part (2000), the pipeline mounting part (3000) and the U-shaped bracket transportation mounting part (4000);

a pipeline pick-and-place transport section (2000) comprising a pipeline pick-and-place section and a pipeline transport section which are sequentially arranged on the mounting platform section (1000) and used for transporting a pipeline to be mounted to the pipeline mounting section (3000);

a pipeline mounting part (3000) arranged at the output end of the pipeline transportation part for realizing roller type mounting of the pipeline;

a U-shaped bracket transportation installation part (4000) which comprises a U-shaped bracket steering device (4100) arranged side by side with the pipeline transportation part and a U-shaped bracket installation part (4200) arranged at one side of the U-shaped bracket steering device (4100) and used for realizing the installation of the U-shaped connector.

2. The automatic pipe-installing robot of the wheel-disc type according to claim 1, wherein the installation platform part (1000) includes an installation platform (1002) connected with the crawler chassis part (0000) by a rotating bracket (1001), and a first guide rail bar (1003) and a second guide rail bar (1004) are provided on the upper end of the installation platform (1002).

3. The automatic installation robot of wheel disc type pipeline according to claim 1, characterized in that the pipeline taking and placing part comprises a storage box (2100), a sliding table part (2200) and a lifting box (2400) which are arranged on the upper end of the installation platform (1002) in sequence, a lifting device (2500) is arranged near the lifting box (2400), and a lifting buckle device (2300) is arranged on the lifting box (2400).

4. A wheel-disc type pipeline automatic installation robot according to claim 3, characterized in that the storage box (2100) comprises three lattices, wherein the middle is used for placing a straight pipeline, and the two sides are respectively used for placing a corner pipeline and a U-shaped connecting piece; the sliding table part (2200) comprises a first sliding table (2201) and a second sliding table (2202) which are arranged in parallel, the first sliding table (2201) is an inclined sliding table with a certain inclination angle, and a lifting plate capable of rotating around a shaft is arranged on the second sliding table (2202);

the lifting device (2500) comprises a lifting rack (2503) in sliding connection with a second guide rail bar (1004), a long threaded rod (2502) in threaded connection with the lower end of the lifting rack (2503), and a first motor (2501) connected with the long threaded rod (2502), a rotating arm (2505) and a second motor (2504) used for driving the rotating arm (2505) to rotate are arranged at the upper end of the lifting rack (2503), a sliding block electric hoist (2506) is arranged on the rotating arm (2505), and a lifting hook of the sliding block electric hoist (2506) is connected with a lifting ring of a clamping piece (2507); holder (2507) include slider platform (2573), with slider (2572) of slider platform (2573) sliding connection slider (2572) are installed on slider (2572) and slider platform (2573) and are little cylinder (2571).

5. The automatic pipe-installing robot of the wheel disc type as claimed in claim 3, wherein the raising snap device (2300) comprises a small motor (2203) provided at a side of the raising box (2400), a short screw rod (2302) connected with the small motor (2203), and a raising snap (2301) threadedly connected with the short screw rod (2302), the raising snap (2301) is slidably connected with a side of the raising box (2400), and the micro motor (2303) is provided on the raising snap (2301).

6. The automatic pipe installation robot of a wheel disc type according to claim 1, wherein the pipe transportation portion comprises a transportation support frame (2800), an iron chain gear (2900) arranged at one side of the transportation support frame (2800), and a third motor (2600) connected with the iron chain gear (2900), the iron chain gear (2900) comprises a gear and an iron chain mounted on the gear, and a plurality of thimble conveying devices (2700) are arranged on the iron chain at intervals; the thimble conveying device (2700) comprises a transmission support (2702), a plurality of first thimbles (2701) are installed on the transmission support (2702) through springs, and the transmission support (2702) is connected with an iron chain through a connecting part (2703).

7. The wheel-disc type automatic pipe installation robot according to claim 1, wherein the pipe installation portion (3000) comprises a triangle support (3100), a disc installation portion (3200) and a fixed support portion (3300), the triangle support (3100) is composed of three triangle plates and a rectangular plate with a through groove dug therein, the through groove provides a guide rail for the horizontal movement of the disc installation portion (3200), and the triangle support (3100) is disposed on the installation platform (1002); the disc mounting part (3200) comprises a disc support (3210), a thread stepper (3220) arranged on the disc support (3210) and a hydraulic telescopic rod support (3230) arranged on the thread stepper (3220), wherein a clamping device (3240) is arranged on the hydraulic telescopic rod support (3230);

the hydraulic telescopic rod support (3230) comprises a support shell (3232), a hydraulic rod (3231) connected with the outer side of the support shell (3232), and a connecting platform (3233) connected with the hydraulic rod (3231), a ball bar (3234) is arranged in the middle of the lower end of the connecting platform (3233), and the ball bar (3234) is placed at the upper end of the support shell (3232);

the clamping device (3240) comprises an upper group of second ejector pins (3241) and a lower group of second ejector pins (3241) and a connecting piece (3243) used for connecting the upper group of second ejector pins and the lower group of second ejector pins (3241), roller rods (3242) are arranged inside and outside each group of second ejector pins (3241), and a micro motor group (3244) is arranged at the connecting position of the roller rods (3242) and the second ejector pins (3241) and at the end, with rollers, of the roller rods (3242), so that the rotation of the roller rods (3242) can be controlled conveniently.

8. The automatic pipeline installation robot of the wheel disc type as claimed in claim 7, wherein the fixing bracket part (3300) comprises a fixing bracket (3301), a fourth motor (3302) is provided at an upper end of the fixing bracket (3301), the fourth motor (3302) is connected to a middle portion of the disc installation part (3200), and a T-shaped notch and a threaded hole are opened at a lower end of the fixing bracket (3301) for connecting with the first guide rail bar (1003) and the motor threaded rod (3303).

9. A wheel disc type pipe automatic installation robot according to claim 1, characterized in that the U-shaped support steering device (4100) comprises a steering device shell (4110) and a steering rod part (4120), two fixed round rods are arranged inside the steering device shell (4110), one side of the steering device shell is provided with a notch, and a boss is arranged for placing the steering rod part (4120);

the steering rod part (4120) comprises a steering rod (4121) and a groove wheel (4122), and the groove wheel (4122) is arranged on one side of the steering rod (4121) through a micro motor (2303); one end of the steering rod (4121) is connected with a boss of the steering device shell (4110), the micro motor (2303) provides power to drive the steering rod (4121) to rotate around the boss, the other end of the steering rod (4121) is connected with the groove wheel (4122), and the micro motor (2303) provides power to drive the groove wheel (4122) to rotate.

10. The automatic pipe installation robot of a wheel disc type according to claim 1, wherein the "U" -shaped bracket mounting portion (4200) comprises a first bracket rod (4210) and a second bracket rod (4230) which are slidably connected, the upper end of the first bracket rod (4210) is notched, a gear rack is arranged on the second bracket rod (4230), and a gear set (4220) is arranged at the notch of the first bracket rod (4210) and connected with the gear rack on the second bracket rod (4230);

the second support rod (4230) is provided with a mounting part (4240) in a sliding mode, the mounting part (4240) comprises a mounting sliding block (4241) and a fixing block (4242), and one end of the fixing block (4242) is connected with the mounting sliding block (4241) through a small-sized motor (2203); and a punching thread unit (4243) is arranged on the outer side of the mounting sliding block (4241) in a sliding manner.

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